Sistem Pergerakan Point to Point Mobile Robot dengan Kontrol Posisi Motor DC
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Date
2018-07-20
Authors
Danil, Jufrika
Journal Title
Journal ISSN
Volume Title
Publisher
Politeknik Negeri Batam
Abstract
Mobile robot is typically one of numerous types of robots, as it is the foremost used
for Differential Wheel Drive that offers low cost. However, regardless of the type, the main
issue from mobile robot is related to it’s drive system and it’s simple manually controlled
with on-off controller. Furthermore, the automatic drive is necessitated to move to targeted
points or positions with ease. Thus, implementing Forward Kinematics method which is
received from time discrete feedback and inverse kinematic controlled by PID with
feedback of internal encoder at DC motor is supposed to make robot moves automatically.
This experiment shows that the driving control system can move the position of the robot
where the average error for its movement/motion is 11.9% with respect to X axis, 11.4%
with respect to Y axis, as well as 15.4% towards Theta with percentage of successful
movement reaches 87.08%. Additionally. The error may due to slip of the wheels while
moving as well as system of position’s feedback and the direction that is only obtained by
time discrete.
Description
Keywords
Teknik Elektro, Mekatronika, Engineering and Allied Operations (Teknik dan Ilmu yang Berkaitan), Computer Sciences, Knowledge, Systems (Ilmu Komputer, Pengetahuan, Sistem), Social Science, Sociology and Anthropology (Ilmu Sosial, Sosiologi dan Antropologi)